Ummm, that's not the definition of a militia.
The definition of a militia is a body of non-professional (ordinary citizen) soldiers not part of the regular army, who stand ready to be called up in an emergency.
Notice the being called up part - the militia is to be SERVING IN and to be UNDER THE COMMAND of the ordinary military hierarchy.
A militia is NOT as you are implying, some kind of batch of citizens ready to raise an insurrection to fight against the army. That is the exact opposite of "being necessary to the security of a free State".
While I'm not for bureaucracy, even the Army has qualification standards of who can join. While militia standards should be lower, we cannot argue that they should be zero, enshrining some "right" for any mentally-incompetent and/or skilled-incompetent person to buy any armament and carry it in any situation.
If you are a sane, competent, and responsible citizen, no one is even proposing a law infringing your right.
(and FTR, I used to argue a "gun control is using two hands" approach. But accumulation of facts and a bit of thinking has changed my mind.)